Object detection device and object detection program

Abstract

To provide an object detection device which improves reliability of positional information of an object, and an object detection program.SOLUTION: An object detection device 40 comprises: a region calculation unit 41 for calculating a region including a radar object coordinate which is a coordinate of a relative position of an object measured by a radar sensor 20 and a camera object coordinate which is a coordinate of a relative position of the object measured by a camera sensor 22; and an output unit (42) for outputting an ultrasonic object coordinate which is a coordinate of a relative position of the object measured by an ultrasonic sensor 24 to a driving control device 50 which controls the travel of a vehicle when the region calculated by the region calculation unit 41 is within a detectable range of the ultrasonic sensor 24.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an object detection device and an object detection program. [Background technology]

[0002] Conventionally, as described in Patent Document 1, there has been known a pre-collision control device that executes control to apply braking force to the wheels when it determines, based on object position information obtained from a radar sensor and a camera sensor, that there is an obstacle that has a high possibility of colliding with the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-111219 A Summary of the Invention [Problem to be solved by the invention]

[0004] According to the study by the inventors, there are blind spots in the imaging range of the camera sensor, so there are positions where the camera sensor does not detect the object. In addition, when the camera sensor erroneously detects the type of object, the control of applying a braking force to the vehicle wheels described in Patent Document 1 malfunctions. Furthermore, in the case of a radar sensor, if radio waves are interfered with, the measurement accuracy decreases due to the radio wave interference. For this reason, the reliability of the position information of the object measured by the radar sensor and the camera sensor may be low.

[0005] The present disclosure aims to provide an object detection device and an object detection program that improve the reliability of object position information. [Means for solving the problem]

[0006] The invention described in claim 1 is An object detection device,The object detection device is used on a vehicle and includes a radar sensor (20) that measures the relative position of an object with respect to the vehicle (10) by transmitting radio waves and receiving the radio waves reflected by the object, a camera sensor (22) that measures the relative position using an image captured by a camera (220), and an ultrasonic sensor (24) that measures the relative position by transmitting ultrasonic waves and receiving the ultrasonic waves reflected by the object, the object detection device including an area calculation unit (41) that calculates an area (Rrc) that includes radar object coordinates (Pr) that are the coordinates of the relative position measured by the radar sensor and camera object coordinates (Pc) that are the coordinates of the relative position measured by the camera sensor, and an output unit (42) that outputs ultrasonic object coordinates (Ps) that are the coordinates of the relative position measured by the ultrasonic sensor to a driving control device (50) that controls the traveling of the vehicle when the area is within a detectable range (Ras) of the ultrasonic sensor. The output unit outputs ultrasonic object coordinates to the operation control device when the number of times (Ns) when the intensity of the reflected wave of the ultrasonic wave reflected by the object is equal to or greater than the intensity threshold is equal to or greater than a number threshold (Ns_th), and does not output ultrasonic object coordinates to the operation control device when the number of times is less than the number threshold. It is an object detection device.

[0007] Also, claims 3 The invention described in An object detection program, The object detection device for use in a vehicle includes a radar sensor (20) for measuring the relative position of an object with respect to the vehicle (10) by transmitting radio waves and receiving the radio waves reflected by the object, a camera sensor (22) for measuring the relative position using an image captured by a camera (220), and an ultrasonic sensor (24) for measuring the relative position by transmitting ultrasonic waves and receiving the ultrasonic waves reflected by the object, and functions as an area calculation unit (41) for calculating an area (Rrc) including radar object coordinates (Pr) which are the coordinates of the relative position measured by the radar sensor and camera object coordinates (Pc) which are the coordinates of the relative position measured by the camera sensor, and an output unit (42) for outputting ultrasonic object coordinates (Ps) which are the coordinates of the relative position measured by the ultrasonic sensor to a driving control device (50) which controls the traveling of the vehicle when the area is within a detectable range (Ras) of the ultrasonic sensor. The output unit outputs ultrasonic object coordinates to the operation control device when the number of times (Ns) when the intensity of the reflected wave of the ultrasonic wave reflected by the object is equal to or greater than the intensity threshold is equal to or greater than a number threshold (Ns_th), and does not output ultrasonic object coordinates to the operation control device when the number of times is less than the number threshold. Object Detection Program It is.

[0008] As a result, the position information of the object detected by the three sensors is output to the driving control device. Since the object is detected by three sensors, the position information of the object output to the driving control device is more reliable than the position information of the object measured by two sensors, the radar sensor and the camera sensor. Therefore, the reliability of the position information of the object is improved.

[0009] The reference symbols in parentheses attached to each component indicate an example of the correspondence between the component and specific components described in the embodiments described below. [Brief description of the drawings]

[0010] [Figure 1] 1 is a configuration diagram of a vehicle system in which an object detection device according to an embodiment is used; [Diagram 2] FIG. 1 is a diagram showing a vehicle in which an object detection device is used. [Diagram 3] 4 is a flowchart showing the process of an area calculation unit of the object detection device. [Figure 4] FIG. 4 is a diagram showing calculation of a first region by a region calculation unit. [Diagram 5] 5 is a flowchart showing the processing of an output unit of the object detection device. [Figure 6] 11 is a diagram showing the relationship between the relative distance of an object to a vehicle and a wave height threshold value. [Figure 7] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, embodiments will be described with reference to the drawings. In the following embodiments, the same or equivalent parts are denoted by the same reference numerals, and the description thereof will be omitted.

[0012] The object detection device 40 of this embodiment is used in a system 15 of a vehicle 10. First, the system 15 will be described.

[0013] As shown in FIGS. 1 and 2, the system 15 includes a radar sensor 20, a camera sensor 22, an ultrasonic sensor 24, an object detection device 40, and an operation control device 50.

[0014] The radar sensor 20 is attached to the front end of the vehicle 10. The radar sensor 20 transmits radio waves, such as millimeter waves and infrared waves, toward the front of the vehicle 10. At this time, if an object is present in front of the vehicle 10, the radar sensor 20 receives the radio waves reflected by the object. The radar sensor 20 detects the relative position of the object with respect to the vehicle 10 based on information obtained from the received radio waves. The radar sensor 20 outputs a signal corresponding to the detected relative position to an object detection device 40, which will be described later. If the radar sensor 20 cannot receive the radio waves reflected by the object, it outputs a signal indicating that the object has not been detected to the object detection device 40, which will be described later.

[0015] The camera sensor 22 includes a camera 220 and an image processing unit (not shown). The camera 220 is a monocular camera and is attached inside the vehicle 10. The camera 220 captures an image ahead of the vehicle 10. The image processing unit, for example, identifies the type of object captured in the image captured by the camera 220 by comparing the object captured in the image with a preset template image of the object. The image processing unit calculates the relative position of the object captured in the image captured by the camera 220 with respect to the vehicle 10 by performing coordinate conversion from the image coordinate system to the vehicle coordinate system Σc based on the orientation and focal length of the camera 220. The image processing unit outputs a signal corresponding to the calculated relative position to the object detection device 40 described later. The vehicle coordinate system Σc is a coordinate system having a predetermined position in the vehicle 10 as its origin. For example, the predetermined position in the vehicle 10 is the center of gravity of the vehicle 10. The front of the vehicle 10 is defined as the positive direction of the Xc axis in the vehicle coordinate system Σc. Furthermore, the left side of the vehicle 10 is defined as the positive direction of the Yc axis in the vehicle coordinate system Σc. The upward direction of the vehicle 10 is defined as the positive direction of the Zc axis in the vehicle coordinate system Σc. Therefore, the vehicle coordinate system Σc is expressed as a right-handed system.

[0016] The ultrasonic sensor 24 is attached to the front end of the vehicle 10. The ultrasonic sensor 24 transmits ultrasonic waves toward the front of the vehicle 10. If an object is present in front of the vehicle 10, the ultrasonic sensor 24 receives ultrasonic waves reflected by the object. The ultrasonic sensor 24 detects the relative position of the object with respect to the vehicle 10 based on information obtained from the received ultrasonic waves. The ultrasonic sensor 24 outputs a signal corresponding to the detected relative position to an object detection device 40 described later. The ultrasonic waves are sound waves with a frequency of 20 kHz or more. If the ultrasonic sensor 24 cannot receive ultrasonic waves reflected by the object, it outputs a signal indicating that the object has not been detected to the object detection device 40 described later.

[0017] The object detection device 40 is a microcomputer including a CPU, a RAM, a ROM, a flash memory, and the like. The RAM, the ROM, and the flash memory are all non-transient substantial storage media. The CPU executes a program stored in the ROM or the flash memory, and uses the RAM as a working area. Specifically, the object detection device 40 has an area calculation unit 41 and an output unit 42. The area calculation unit 41 calculates a first area Rrc, which will be described later, based on the radar sensor 20 and the camera sensor 22 by the execution of a program by the CPU of the area calculation unit 41. The area calculation unit 41 also outputs a signal according to the calculated first area Rrc to the output unit 42 and the operation control device 50, which will be described later. The output unit 42 outputs or does not output a measurement result by the ultrasonic sensor 24 to the operation control device 50, which will be described later, based on the first area Rrc calculated by the area calculation unit 41 and a signal from the ultrasonic sensor 24 by the execution of a program by the CPU of the output unit 42.

[0018] The driving control device 50 is a microcomputer equipped with a CPU, RAM, ROM, flash memory, etc. The RAM, ROM, and flash memory are all non-transient substantial storage media. The CPU executes a program stored in the ROM or flash memory, and uses the RAM as a working area at that time. The driving control device 50 controls the vehicle 10 based on a signal from the output unit 42 by the CPU of the driving control device 50 executing the program.

[0019] As described above, the system 15 of the vehicle 10 equipped with the object detection device 40 is configured. Next, the calculation of the first region Rrc by the region calculation unit 41 will be described with reference to the flowchart of Fig. 3 and Fig. 4. This calculation program is executed, for example, when the vehicle 10 is traveling.

[0020] Here, in order to explain the calculation of this first region Rrc, the following terms are defined. The relative position coordinates of the object measured by the radar sensor 20 are defined as radar object coordinates Pr. The relative position coordinates of the object measured by the camera sensor 22 are defined as camera object coordinates Pc.

[0021] In step S100, the region calculation unit 41 acquires various information. Specifically, the region calculation unit 41 acquires the radar object coordinates Pr from the radar sensor 20. The region calculation unit 41 also acquires the camera object coordinates Pc from the camera sensor 22.

[0022] Next, in step S102, the region calculation unit 41 calculates a first region Rrc of a predetermined size that includes the radar object coordinate Pr and the camera object coordinate Pc, as shown in FIG. 4. For example, the region calculation unit 41 extracts the radar object coordinate Pr and the camera object coordinate Pc whose distance from the radar object coordinate Pr to the camera object coordinate Pc is equal to or less than a predetermined distance from the radar object coordinate Pr and the camera object coordinate Pc acquired in step S100. In addition, the region calculation unit 41 calculates a plurality of position coordinates in the vehicle coordinate system Σc that are a predetermined distance away from the extracted radar object coordinate Pr and the camera object coordinate Pc. As a result, the region calculation unit 41 calculates the first region Rrc by calculating the outer edge of the first region Rrc. After that, the process of the region calculation unit 41 returns to the process of step S100. Note that this first region Rrc is calculated to be, for example, a cube shape. In addition, the first region Rrc is not limited to being calculated to be a cube shape, and may be calculated to be a polygonal prism shape, a cylinder shape, or a sphere shape. Furthermore, the size of the first region Rrc is set through experiments, simulations, etc. Furthermore, the predetermined distance is set through experiments, simulations, etc.

[0023] As described above, the area calculation unit 41 calculates the first area Rrc. Next, the process of the output unit 42 will be described with reference to the flowchart of Fig. 5, Fig. 6 and Fig. 7. This process program is executed, for example, when the vehicle 10 is traveling.

[0024] Here, the following terms are defined to explain this process. The period of a series of operations from when the process of step S200 of the output unit 42 starts until the process returns to step S200 is defined as the control period of the output unit 42. The relative position coordinates of the object measured by the ultrasonic sensor 24 are defined as ultrasonic object coordinates Ps.

[0025] In step S200, the output unit 42 acquires various information. Specifically, the output unit 42 acquires the first region Rrc from the region calculation unit 41. The output unit 42 also acquires the ultrasonic object coordinates Ps and the relative distance of the object from the ultrasonic sensor 24. The output unit 42 further calculates the peak value threshold using the acquired relative distance of the object and the table. The output unit 42 also acquires the peak value of the reflected wave of the ultrasonic wave of the ultrasonic sensor 24 from the ultrasonic sensor 24. The output unit 42 further determines whether the acquired peak value is greater than the peak value threshold. When the acquired peak value is greater than the peak value threshold, the output unit 42 adds 1 to the peak value exceeding count Ns of the previous control cycle to calculate the peak value exceeding count Ns of the current control cycle. The table for calculating the peak value threshold is set by experiments, simulations, and the like. For example, here, as shown in FIG. 6, the peak value threshold increases as the relative distance of the object increases. Furthermore, when the output unit 42 receives from the ultrasonic sensor 24 a signal indicating that the object has not been detected, the output unit 42 resets the crest value exceedance count Ns.

[0026] 7, the output unit 42 determines whether or not the first region Rrc acquired in step S200 is within the detectable range Ras of the ultrasonic sensor 24. As a result, the output unit 42 determines whether or not an object is detected by the radar sensor 20, the camera sensor 22, and the ultrasonic sensor 24. The detectable range Ras is set according to the performance of the ultrasonic sensor 24. For example, the detectable range Ras is a range of up to 10 m forward from the front end of the vehicle 10.

[0027] Then, when the first region Rrc is within the detectable range Ras of the ultrasonic sensor 24, an object is detected by the radar sensor 20, the camera sensor 22, and the ultrasonic sensor 24. At this time, the processing of the output unit 42 proceeds to step S204. On the other hand, when the first region Rrc is outside the detectable range Ras of the ultrasonic sensor 24, an object is detected by the radar sensor 20 and the camera sensor 22, but is not detected by the ultrasonic sensor 24. At this time, the processing of the output unit 42 proceeds to step S214.

[0028] In step S204 following step S202, the output unit 42 calculates a second region Rs of a predetermined size including the ultrasonic object coordinate Ps. For example, the output unit 42 extracts ultrasonic object coordinates Ps in which the distance between the ultrasonic object coordinates Ps is equal to or less than a predetermined distance from the ultrasonic object coordinates Ps acquired in step S200. The output unit 42 also calculates a plurality of position coordinates in the vehicle coordinate system Σc that are a predetermined distance away from these extracted ultrasonic object coordinates Ps. As a result, the output unit 42 calculates the second region Rs by calculating the outer edge of the second region Rs. Note that the second region Rs is calculated to have, for example, a rectangular parallelepiped shape. Furthermore, the second region Rs is not limited to being calculated to have a rectangular parallelepiped shape, and may be calculated to have a polygonal prism shape, a cylindrical shape, or a spherical shape. Furthermore, the size of the second region Rs is set by experiments, simulations, or the like. Furthermore, the above-mentioned predetermined distance is set by experiments, simulations, or the like.

[0029] Next, in step S206, the output unit 42 calculates the inter-region distance ΔDr from the first region Rrc acquired in step S200 and the second region Rs calculated in step S204. Note that the inter-region distance ΔDr is the shortest distance from the outer edge of the first region Rrc to the outer edge of the second region Rs.

[0030] Next, in step S208, the output unit 42 determines whether the inter-area distance ΔDr calculated in step S206 is equal to or smaller than the distance threshold ΔDr_th. As a result, the output unit 42 determines whether the ultrasonic object coordinate Ps is close to the radar object coordinate Pr and the camera object coordinate Pc. The distance threshold ΔDr_th is set by an experiment, a simulation, or the like.

[0031] When the inter-region distance ΔDr is equal to or smaller than the distance threshold ΔDr_th, the ultrasonic object coordinate Ps is close to the radar object coordinate Pr and the camera object coordinate Pc, and the process of the output unit 42 proceeds to step S210. When the inter-region distance ΔDr is larger than the distance threshold ΔDr_th, the ultrasonic object coordinate Ps is far from the radar object coordinate Pr and the camera object coordinate Pc, and the process of the output unit 42 proceeds to step S214.

[0032] In step S210 following step S208, the output unit 42 determines whether or not the crest value exceeding count Ns acquired in step S200 is equal to or greater than a count threshold Ns_th. As a result, the output unit 42 determines whether or not an object is momentarily detected by the ultrasonic sensor 24. The count threshold Ns_th is set by an experiment, a simulation, or the like.

[0033] When the crest value exceedance count Ns is equal to or greater than the count threshold Ns_th, an object is not instantaneously detected by the ultrasonic sensor 24, and the process of the output unit 42 proceeds to step S212. When the crest value exceedance count Ns is less than the count threshold Ns_th, an object is instantaneously detected by the ultrasonic sensor 24, and the process of the output unit 42 proceeds to step S214.

[0034] In step S212 following step S210, the first region Rrc is within the detectable range Ras of the ultrasonic sensor 24, the inter-region distance ΔDr is equal to or less than the distance threshold ΔDr_th, and the crest value exceedance count Ns is equal to or more than the count threshold Ns_th. At this time, the output unit 42 outputs the ultrasonic object coordinate Ps to the driving control device 50. After that, the processing of the output unit 42 returns to the processing of step S200. At this time, the driving control device 50 performs PCS control using the ultrasonic object coordinate Ps. For example, the driving control device 50 calculates the TTC based on the ultrasonic object coordinate Ps and the relative speed of the vehicle 10. Furthermore, when the calculated TTC is less than the time threshold TTC_th, the driving control device 50 decelerates the vehicle 10 because there is a high possibility that the vehicle 10 will collide with the object. Furthermore, at this time, the driving control device 50 generates an alarm sound indicating that there is a high possibility that the vehicle 10 will collide with the object from a speaker (not shown). At this time, the driving control device 50 also displays a display, not shown, indicating that there is a high possibility of the vehicle 10 colliding with the object. In this way, the driving control device 50 alerts the driver of the vehicle 10. When the calculated TTC is equal to or greater than the time threshold TTC_th, the driving control device 50 allows the vehicle 10 to continue traveling at the current time point, since there is a low possibility of the vehicle 10 colliding with the object. Note that PCS is an abbreviation for Pre Crash Safety Control. TTC is an abbreviation for Time To Collision. The time threshold TTC_th is set by experiments, simulations, etc.

[0035] In step S214, the first region Rrc is outside the detectable range Ras of the ultrasonic sensor 24, or the inter-region distance ΔDr is greater than the distance threshold ΔDr_th, or the crest value exceedance count Ns is less than the count threshold Ns_th. At this time, the output unit 42 does not output anything to the driving control device 50. After that, the processing of the output unit 42 returns to the processing of step S200. Also, at this time, the driving control device 50 does not perform PCS control and allows the vehicle 10 to continue traveling at the current time.

[0036] As described above, the output unit 42 performs the process. Next, how the object detection device 40 improves the reliability of the object position information will be described.

[0037] The object detection device 40 includes an area calculation unit 41 and an output unit 42. The area calculation unit 41 calculates a first area Rrc that includes the radar object coordinates Pr and the camera object coordinates Pc. The output unit 42 outputs the ultrasonic object coordinates Ps to the operation control device 50 when the first area Rrc is within the detectable range Ras of the ultrasonic sensor 24.

[0038] As a result, object position information detected by the three sensors is output to the driving control device 50. Since the object is detected by three sensors, the object position information output to the driving control device 50 is more reliable than the object position information measured by the two sensors, the radar sensor 20 and the camera sensor 22. Therefore, the reliability of the object position information is improved.

[0039] In addition, the object detection device 40 also provides the following effects.

[0040] [1] In step S204, the output unit 42 calculates the second region Rs including the ultrasonic object coordinate Ps. In step S206, the output unit 42 calculates the inter-region distance ΔDr. Furthermore, when the calculated inter-region distance ΔDr is equal to or smaller than the distance threshold ΔDr_th, the output unit 42 outputs the ultrasonic object coordinate Ps to the operation control device 50. As described above, the inter-region distance ΔDr corresponds to the distance from the outer edge of the first region Rrc to the outer edge of the second region Rs.

[0041] When the inter-area distance ΔDr is equal to or smaller than the distance threshold ΔDr_th, the ultrasonic object coordinate Ps is close to the radar object coordinate Pr and the camera object coordinate Pc. Therefore, the ultrasonic object coordinate Ps with high reliability is output to the operation control device 50.

[0042] [2] When the crest value exceeding count Ns is equal to or greater than the count threshold Ns_th, the output unit 42 outputs the ultrasonic object coordinate Ps to the operation control device 50. The crest value exceeding count Ns corresponds to the number of times when the intensity of the reflected wave of the ultrasonic wave reflected by the object is equal to or greater than the intensity threshold.

[0043] This prevents the ultrasonic object coordinates Ps from being output to the operation control device 50 when an object is instantaneously detected by the ultrasonic sensor 24. Therefore, the ultrasonic object coordinates Ps with high reliability are output to the operation control device 50.

[0044] (Other embodiments) The present disclosure is not limited to the above-described embodiments, and appropriate modifications can be made to the above-described embodiments. Furthermore, in each of the above-described embodiments, it goes without saying that the elements constituting the embodiments are not necessarily essential, except in cases where they are particularly clearly stated as essential or where they are clearly considered essential in principle.

[0045] The calculation unit, output unit, etc., and the method thereof described in the present disclosure may be realized by a dedicated computer provided by configuring a processor and memory programmed to execute one or more functions embodied in a computer program. Alternatively, the calculation unit, output unit, etc., and the method thereof described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the calculation unit, output unit, etc., and the method thereof described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor and memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. In addition, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer.

[0046] In the above embodiment, the radar sensor 20 and the ultrasonic sensor 24 are attached to the front end of the vehicle 10. In contrast, the radar sensor 20 and the ultrasonic sensor 24 are not limited to being attached to the front side of the vehicle 10. The radar sensor 20 and the ultrasonic sensor 24 may be attached to the left and right ends and the rear end of the vehicle 10.

[0047] In the above embodiment, the number of radar sensors 20 is one. However, the number of radar sensors 20 is not limited to one and may be two or more. Furthermore, the number of ultrasonic sensors 24 is two. However, the number of ultrasonic sensors 24 is not limited to two and may be one or more.

[0048] In the above embodiment, the camera 220 of the camera sensor 22 is attached inside the vehicle cabin of the vehicle 10. However, the camera 220 is not limited to being attached inside the vehicle cabin. The camera 220 may be attached to the front end, rear end, door mirror, etc. of the vehicle 10.

[0049] In the above embodiment, the camera 220 is a monocular camera. However, the camera 220 is not limited to being a monocular camera. The camera 220 may be a stereo camera. In this case, the image processing unit calculates the relative position of the object with respect to the vehicle 10, for example, by using an image captured by the camera 220 and triangulation. In addition, the image processing unit outputs a signal corresponding to the calculated relative position to the object detection device 40 described later.

[0050] In the above embodiment, the image processing unit calculates the relative position of an object shown in an image captured by the camera 220 with respect to the vehicle 10 by performing coordinate conversion from the image coordinate system to the vehicle coordinate system Σc based on the orientation, focal length, etc. of the camera 220. In contrast, the image processing unit is not limited to calculating the relative position of an object shown in an image captured by the camera 220 with respect to the vehicle 10 by this method. For example, the image processing unit may calculate the relative position of an object shown in an image captured by the camera 220 with respect to the vehicle 10 by using a moving stereo method.

[0051] In the above embodiment, the number of camera sensors 22 is one. However, the number of camera sensors 22 is not limited to one, and may be two or more.

[0052] Assume that the first region Rrc is within the detectable range Ras of the ultrasonic sensor 24, the region distance ΔDr is equal to or less than the distance threshold ΔDr_th, and the crest value exceedance count Ns is equal to or more than the count threshold Ns_th. In this case, in the above embodiment, in step S212, the output unit 42 outputs the ultrasonic object coordinate Ps to the operation control device 50. On the other hand, when the first region Rrc is within the detectable range Ras of the ultrasonic sensor 24, the process of the output unit 42 may proceed to step S212, and the output unit 42 may output the ultrasonic object coordinate Ps to the operation control device 50. Also, when the first region Rrc is within the detectable range Ras of the ultrasonic sensor 24 and the region distance ΔDr is equal to or less than the distance threshold ΔDr_th, the process of the output unit 42 may proceed to step S212, and the output unit 42 may output the ultrasonic object coordinate Ps to the operation control device 50. [Explanation of symbols]

[0053] 10 Vehicles 20 Radar Sensor 22 Camera Sensor 220 Camera 24 Ultrasonic Sensor 40 Object detection device 41 Area calculation section 42 Output section

Claims

1. An object detection device, An object detection device for use in a vehicle, comprising: a radar sensor (20) for measuring a relative position of an object with respect to the vehicle (10) by transmitting radio waves and receiving the radio waves reflected by the object; a camera sensor (22) for measuring the relative position using an image captured by a camera (220); and an ultrasonic sensor (24) for measuring the relative position by transmitting ultrasonic waves and receiving the ultrasonic waves reflected by the object, an area calculation unit (41) that calculates an area (Rrc) including radar object coordinates (Pr), which are coordinates of the relative position measured by the radar sensor, and camera object coordinates (Pc), which are coordinates of the relative position measured by the camera sensor; an output unit (42) that outputs ultrasonic object coordinates (Ps), which are coordinates of the relative position measured by the ultrasonic sensor, to a driving control device (50) that controls the traveling of the vehicle when the area is within a detectable range (Ras) of the ultrasonic sensor; Equipped with The output unit is When the number of times (Ns) when the intensity of the reflected wave of the ultrasonic wave reflected by the object is equal to or greater than the intensity threshold is equal to or greater than a number threshold (Ns_th), the ultrasonic object coordinates are output to the operation control device; When the number of times is less than the number threshold, the object detection device does not output the ultrasonic object coordinates to the operation control device.

2. The region is a first region (Rrc), The output unit is Calculating a second region (Rs) including the ultrasonic object coordinates and a region distance (ΔDr) which is a distance from an outer edge of the first region to an outer edge of the second region; The object detection device according to claim 1 , wherein when the inter-area distance is equal to or smaller than a distance threshold (ΔDr_th), the ultrasonic object coordinates are output to the operation control device.

3. An object detection program comprising: An object detection device for use in a vehicle, comprising: a radar sensor (20) for measuring a relative position of an object with respect to the vehicle (10) by transmitting radio waves and receiving the radio waves reflected by the object; a camera sensor (22) for measuring the relative position using an image captured by a camera (220); and an ultrasonic sensor (24) for measuring the relative position by transmitting ultrasonic waves and receiving the ultrasonic waves reflected by the object, a region calculation unit (41) that calculates a region (Rrc) including radar object coordinates (Pr), which are coordinates of the relative position measured by the radar sensor, and camera object coordinates (Pc), which are coordinates of the relative position measured by the camera sensor; and When the area is within a detectable range (Ras) of the ultrasonic sensor, the ultrasonic sensor is caused to function as an output unit (42) that outputs ultrasonic object coordinates (Ps), which are coordinates of the relative position measured by the ultrasonic sensor, to a driving control device (50) that controls the traveling of the vehicle; The output unit is When the number of times (Ns) when the intensity of the reflected wave of the ultrasonic wave reflected by the object is equal to or greater than the intensity threshold is equal to or greater than a number threshold (Ns_th), the ultrasonic object coordinates are output to the operation control device; When the number of times is less than the number threshold, the ultrasonic object coordinates are not output to the operation control device.

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